Encoders ENX 10/16 EASY / Product Information

maxon motor
ENX Encoders
Product Information
Edition October 2014
ENX 10 EASY / ENX 16 EASY
Encoders
Product Information
Document ID: 1 732 580-04
maxon motor ag
Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com
TABLE OF CONTENTS
1
Technical Data
1.1
1.2
1.3
1.4
1.5
1.6
2
4
Absolute Maximum Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Incremental Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Absolute Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Angle Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Absolute Encoder
2.1
2.2
2.3
7
SSI Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
BiSS-C Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Angle Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3
Definitions
4
Typical Measurement Results
4.1
4.2
4.3
4.4
4
4
4
5
5
6
9
11
Angle Error per Turn, calibrated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temperature Dependence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution Dependence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hysteresis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
12
12
13
5
Dimensional Drawings
13
6
Pin Assignment
14
7
Output Circuitry
15
8
Accessories
16
2
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
ENX 10 EASY / ENX 16 EASY – Product Information
Figure 1
ENX 10 EASY (left) / ENX 16 EASY (right)
The ultra compact maxon EASY encoders use an interpolated Hall sensor angle measurement system
to generate incremental quadrature output signals. They offer three channels (A, B, I) with differential
electrical signals according to EIA-422 (20 mA maximum current) and feature a factory-programmable
resolution in the range of 1 to 1024 impulses per turn.
The encoders are available in two form factors:
•
Ø10 mm version for motors with outside diameter of Ø10 to Ø16 mm
•
Ø16 mm version for motors with outside diameter of Ø16 mm and larger.
Both versions provide the same functionality, whereas the ENX 16 EASY is even more robust in terms
of additional ESD protection circuitry and comprises a “standard pitch” 2.54 mm insulation displacement
connector.
Pin-out for both versions is compatible to most maxon motor controllers with encoder interface.
The ENX EASY Absolute provides the same hardware while additionally offering a single-turn 12 bit
absolute angle value with SSI or BiSS-C protocol.
Note
The listed data are for informational purposes only. None of the stated values or information may be
used as an indicator of guaranteed performance.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3
1
Technical Data
1.1
Absolute Maximum Rating
Parameter
Min
Max
Unit
Supply voltage (Vcc)
–0.3
+6.0
V
Voltage at signal output (Vsignal)
–0.3
+6.0
V
Supply current (Idd)
–30
+220
mA
A,B,I; no supply voltage
–100
+100
mA
DATA; no supply voltage
–10
+10
mA
Signal output current (Isignal)
ESD voltage (Vesd), all pins
Conditions
ENX 10 EASY (HBM 100 pF, 1.5 kΩ)
2
ENX 16 EASY (EN 61000-4-2)
>2
kV
Operating temperature (Tamb)
–40
+100
°C
Storage temperature (Tstore)
–40
+105
°C
20
80
%rH
Humidity
1.2
Condensation not permitted
General Data
Parameter
Conditions
Supply voltage (Vcc)
Supply current (Idd)
1.3
Min
Typ
Max
Unit
+4.5
5
+5.5
V
Output pulse frequency <100 kHz, load
resistor ≥100 kΩ
17
Incremental Interface
Parameter
Conditions
Min
Number of channels
ChA, ChB, ChI
Resolution (N)
1…128, 256, 512, 1024 factoryconfigurable (recommended: 128)
Pulse frequency (fpulse)
Maximum output pulse frequency
Signal output current (Isignal)
With Line Receiver EIA-422
–20
Signal voltage high (Vhigh)
Isignal <20 mA, relative to Vcc
Vcc–0.5 V
Signal voltage low (Vlow)
Isignal <20 mA
Transition time (ttrans)
Rise time/fall time ChA/B/I @ load
resistor 100 Ω, Cload ≤200 pF
4
mA
Typ
Max
3
1, 2, …
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
128
Unit
–
1024
cpt
500
kHz
+20
mA
V
20
0.5
V
500
ns
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
1.4
Absolute Interface
Parameter
Conditions
Min
Typ
Max
Resolution (N)
SSI/BiSS mode 12 bit
Signal output current (Isignal)
DATA output SSI/BiSS interface
Signal voltage high (Vhigh)
DATA output: Isignal <20 mA, relative
to Vcc
Signal voltage low (Vlow)
DATA output: Isignal <20 mA
0.5
V
Transition time (ttrans)
DATA output: Rise time/fall time,
Cload = 50 pF
60
ns
CLK Signal Frequency (fCLK)
Timeout (tout)
4096
Unit
20
Vcc –0.5 V
mA
V
SSI mode
0.04
4
MHz
BiSS mode
0.6
10
MHz
SSI mode
16
μs
BiSS mode
2
μs
Minimum input level CLK HIGH
(Vhigh)
SSI/BiSS mode
Maximum input level CLK LOW
(Vlow)
SSI/BiSS mode
3
0.8
Input resistance CLK (Rinput)
1.5
steps
V
V
6.7
kΩ
Angle Measurement
All values at T = 25°C, n = 5000 rpm, Vcc = 5 V unless otherwise specified.
For definitions page 9.
Parameter
Conditions
Counting direction of incremental
signals (Dir)
Motor shaft movement for signal phase
alignment “A leads B” as seen from the
shaft end
CW
Counting direction of absolute
signals (Dir)
Motor shaft movement for increasing
angle values as seen from the shaft
end
CW
State length (Lstate), incremental
Min
N≤128 cpt
45
N=256 cpt
30
N=512, 1024 cpt
Typ
Max
90
135 *1
90
175
Unit
°el
90
Minimum state duration (tstate),
incremental *2
n≤120‘000 rpm, T=-40…+105°C,
N≤1024 cpt
500
Index pulse width (Lindex)
(synchronized with ChA/B),
incremental
N≤128 cpt
45
90
135
N=256 cpt
30
90
175
°el
N=512, 1024 cpt
90
Integral Nonlinearity (INL)
Maximum average angle error over
one turn (all resolutions)
<1
2
°m
Differential Nonlinearity (DNL)
Maximum average state length error
over one turn, n≤1024 cpt
<1
1
LSB
N=256 cpt
<1
N=512 cpt
<2 *3)
N=1024 cpt
<4 *3)
N=12 bit (EASY Absolute)
<4 *4)
Repeatability (Jitter),
resolution-dependent,
incremental
Repeatability (Jitter),
resolution-dependent
Repeatability (Jitter),
all resolutions
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
ns
<0.4
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
LSB
°m
5
Parameter
Phase delay A to B (Phase θ),
incremental
Conditions
Min
Typ
Max
N≤256 cpt
45
90
135
N=512, 1024 cpt
15
90
165
N≤256 cpt
Unit
°el
1
Angle hysteresis (Hyst)
(Table 4)
Angle hysteresis EASY Absolute
(Hyst)
N=12 bit (4096 steps)
2
LSB
Bandwidth of analog signal path
Typical equivalent bandwidth of single
pole low-pass filter
16
kHz
Delay of digital signal path
Typical latency of digital signal
processing
2
μs
Annotations:
N=512 cpt (configurable)
1
*3)
2
N=1024 cpt (configurable)
2 *3)
4
LSB
*1 Typical value for maximum state length
*2 Table 2
*3) At resolutions 512 cpt and 1024 cpt and minimum hysteresis, occasional random state changes can
occur at channel A or B – but never at both channels simultaneously (cf. minimum state duration tstate of
500 ns). These are caused by thermal noise and can be detected and correctly handled by a a quadrature decoder. maxon motor MAXPOS and EPOS Positioning Controllers as well as ESCON Servo Controllers are equipped with suitable quadrature decoders.
*4) When reading the absolute angle at the same position, six standard deviations of the resulting
sequence of values can approach 4 LSB.
1.6
Mechanical Data
Parameter
Conditions
Value
Dimensions (D x L), without
flange (Figure 8)
ENX 10 EASY
Ø10.0 x 8.5
ENX 16 EASY
Ø15.8 x 8.5
Moment of inertia (Jt)
motor shaft Ø1…6 mm
0.01…0.09
Standard cable length (Lc)
Table 1
6
ENX 10 EASY
150
ENX 16 EASY
200
ENX 16 EASY Absolute
300
Unit
mm
g cm2
mm
Technical Data
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
2
Absolute Encoder
The ENX16 EASY absolute encoder provides the joint functionality of a single-turn absolute encoder in
parallel to the incremental output signals. Two interface protocol variants are factory-configurable: SSI
and BiSS-C.
2.1
SSI Mode
•
CLK input (5 V level, CMOS-compatible) at pin 4.
•
DATA output (5 V level, driver strength 20 mA, CMOS and TTL-compatible) at pin 1.
•
Maximum CLK frequency is 4 MHz.
•
Minimum CLK frequency is 40 kHz.
•
Timeout is 16 μs; wait time after reading of last bit must be larger than tout.
•
Protocol: 13 bit data, MSB first, last bit always zero, gray coded
•
1
A complete reading cycle at maximum clock takes at least 13 ⋅ --------------- + 16μs = 19.25μs .
4MHz
Figure 2
2.2
Timing of EASY Absolute in SSI Mode
BiSS-C Mode
•
CLK input (5 V level, CMOS-compatible) at pin 4.
•
DATA output (5 V level, driver strength 20 mA, CMOS and TTL-compatible) at pin 1.
•
Maximum CLK frequency is 10 MHz.
•
Minimum CLK frequency is 600 kHz.
•
Timeout is 2 μs; wait time after reading of last bit must be larger than tout.
•
Protocol: 3 bit start sequence {Ack, Start, CDS} fixed values, 12 bit data (MSB first), 2 bits Error/
Warning, 6 bit CRC (polynomial: 0b1000011, inverted mode).
1
A complete reading cycle at maximum clock takes at least 23 ⋅ ------------------ + 2μs = 4.3μs .
10MHz
The interface is BiSS-C-compatible. For more information to the BiSS-C interface specification
http://biss-interface.com/ (section “Downloads”).
In the simplest configuration, the controller is the master and ENX EASY Absolute the only
slave.
•
•
Figure 3
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
Timing of EASY Absolute in BiSS-C Mode
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
7
2.3
Angle Alignment
The encoder's angle value “zero” is factory-programmed to the commutation angle “zero” (Figure 4).
•
When assembled onto a motor with several pole pairs (n), the ENX 16 EASY Absolute (part
numbers 488783 and 488782) will show this angle value zero once per mechanical turn.
•
Due to its multiple sets of pole pairs, the motor will show this commutation angle n times per
mechanical turn.
The angle Zero is identical to the index pulse position.
Figure 4
8
Block Commutation of EC (BLDC) Motors – Definition of Phases
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
3
Definitions
Metric
Definition
Angle Error [°m]
Difference of measured and true angular
shaft position at each position.
Average Angle Error [°m]
Average of Angle Error over a number of
turns.
Integral Nonlinearity (INL)
[°m]
Peak-to-peak value of Average Angle
Error.
Jitter (Repeatability) [°m] or
[LSB]
Six standard deviations of Angle Error
per turn (over one turn, at a given
number of turns).
Jitter [°m] is typically independent of
resolution and defines the maximum
useful positioning repeatability.
Jitter [LSB] is resolution-dependent. At
given Jitter [°m], the value is roughly
proportional to resolution.
Least Significant Bit (LSB)
Minimum measurable difference
between two angle values at given
resolution (= quadcount, = State).
State Error [LSB]
Difference between actual state length
and average state length.
Average State Error [LSB]
Average of State Error over a number of
turns for each state of a turn.
Differential Nonlinearity [DNL]
Maximum positive or negative Average
State Error.
Minimum State Length [°el]
Minimum measured state length within a
number of turns relative to pulse length.
Maximum State Length [°el]
Maximum measured state length within
a number of turns relative to pulse
length.
Minimum State Duration [ns]
By chip limited minimum time separation
between two A/B transitions.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
Illustration
9
Metric
Definition
Time difference of rising edge A to B
relative to duration of positive level of A.
Phase delay θ [°el]
Table 2
10
Illustration
Definitions
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
4
Typical Measurement Results
4.1
Angle Error per Turn, calibrated
The average angle error [°m] and the repeatability (Jitter) [°m] are independent of the chosen resolution.
The metrics given in LSB are resolution-dependent.
Below graphs show angle error measurements of one same EASY encoder at different resolutions
under following conditions: Measurement of 25 turns at Vcc=5 V, n=5000 rpm, 1 kΩ load, T=25°C.
Resolution
Graph
Analysis
16 cpt
INL
Jitter
DNL
Min State
Max State
1°m
0.3°m = 0.04 LSB
0.07 LSB
0.95 LSB = 85°el
1.06 LSB = 96°el
128 cpt
INL
Jitter
DNL
Min State
Max State
1°m
0.3°m = 0.4 LSB
0.2 LSB
0.7 LSB = 60°el
1.4 LSB = 124°el
256 cpt
INL
Jitter
DNL
Min State
Max State
1°m
0.3°m = 0.8 LSB
0.3 LSB
0.55 LSB = 50°el
1.7 LSB = 156°el
512 cpt
INL
Jitter
DNL
Min State
Max State
1°m
0.3°m = 1.6 LSB
0.44 LSB
0.49 LSB = 43°el
2.3 LSB = 205°el
Note: The measurements were taken
from a different unit than the others.
INL
Jitter
DNL
Min State
Max State
1024 cpt
Table 3
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
0.75°m
0.23°m = 2.5 LSB
0.5 LSB
0.37 LSB = 33°el
2.8 LSB = 250°el
Typical Measurement Results
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
11
4.2
Temperature Dependence
INL, DNL and Min State are basically temperature-independent. Max State and, in particular, Jitter
increases with temperature (due to thermal noise). The increasing Max State is the consequence of the
increasing Jitter.
Figure 5 shows the temperature dependence of seven samples of EASY encoders under following conditions: Vcc=5 V, 10‘000 rpm, 1 kΩ load, 256 cpt.
Figure 5
4.3
Temperature Dependence
Resolution Dependence
INL and Jitter [°m] are independent of resolution (Table 3), the resolution-dependent metrics deteriorate with increased resolution. The maximum useful resolution for positioning applications is 256 cpt
with Jitter <1 LSB at room temperature.
Figure 6 shows the resolution dependence of nine samples of EASY encoders under following conditions: Vcc=5 V, 10‘000 rpm, 1 kΩ load, 25°C.
Figure 6
12
Resolution Dependence
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
4.4
Hysteresis
When turning the direction of movement, digital hysteresis suppresses multiple switching at the turning
position. Hysteresis has the same effect as a mechanical slip at the turning position. When approaching
the switching position from the same direction, the location of the transition (A or B) will always be created at the same position. Figure 7 shows the generated quadrature signals as a function of angular
position at a direction change in view of digital hysteresis.
Figure 7
Effect of Hysteresis on Pulse Sequence at Rotation Direction Change (CW/CCW)
For resolutions ≤256 cpt, ENX EASY encoders are programmed to a digital hysteresis of 1 LSB (1 quadcount). For higher resolutions of 512 cpt and 1024 cpt, the standard hysteresis is 0.35°m (2 LSB at 512
cpt, 4 LSB at 1024 cpt). At room temperature (for jitter <1LSB), no spontaneous signal changes occur in
this mode. A reduced hysteresis of 0.17°m (1 LSB at 512 cpt, 2 LSB at 1024 cpt) can be chosen during
configuration. In this mode, spontaneous changes of the A or B signal can occur at low speed due to
thermal noise causing jitter >1LSB.
Resolution
Standard Hysteresis
Reduced Hysteresis
1…64 cpt
1.4°m / ≤1 LSB
not applicable
65…128 cpt
0.7°m / ≤1 LSB
not applicable
256 cpt
0.35°m / 1 LSB
not applicable
512 cpt
0.35°m / 2 LSB
0.17°m / 1 LSB
1024 cpt
0.35°m / 4 LSB
0.17°m / 2 LSB
12 bit
0.17°m / 2 LSB
not applicable
Table 4
5
Default/programmable Hysteresis for different Resolutions
Dimensional Drawings
Figure 8
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
Dimensional Drawing [mm] – ENX 10 EASY (left) / ENX 16 EASY (right)
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
13
6
Pin Assignment
Maximum permitted Supply Voltage
• Make sure that supply power is within stated range.
• Supply voltages exceeding the stated range, or wrong polarity will destroy the unit.
• Connect the unit only when supply voltage is switched off (Vcc=0).
Figure 9
Cable Plug – ENX 10 EASY (left) / ENX 16 EASY / Absolute (right)
Pin
Signal
Description
1
SSI/BiSS DATA
Absolute encoder Data
2
Vcc
Power supply voltage
3
GND
Ground
4
SSI/BiSS CLK
Absolute encoder Clock
5
ChA/
Channel A complement
6
ChA
Channel A
7
ChB/
Channel B complement
8
ChB
Channel B
9
ChI/
Channel I (index) complement
10
ChI
Channel I (index)
Table 5
Cable Plug – Pin Assignment
Assignment Pin 1 and Pin 4
Externally applied voltages at these pins can destroy the device.
Specifications
ENX 10 EASY
ENX 16 EASY /
Absolute
Table 6
14
Connector
IDC socket, pitch 1.27 mm, 5 x 2 poles
Mating plug
Pin header, pitch 1.27 mm, 5 x 2 poles (e.g. Samtec FTSH
series)
Connector
IDC socket, pitch 2.54 mm, 5 x 2 poles
Mating plug
Pin header, pitch 2.54 mm, 5 x 2 poles (EN 60603-13/DIN
41651)
Cable Plug – Specifications
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
7
Output Circuitry
Conceptual schematics of outputs ENX 10 EASY (Figure 10) and ENX 16 EASY (Figure 11) including ESD protection circuitry.
Figure 10
Output Circuitry – ENX 10 EASY
Figure 11
Output Circuitry – ENX 16 EASY / Absolute
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
15
8
Accessories
Order number
405120
488167
Description
Plug-in adapter
To connect the ENX 10 EASY to…
• EPOS2 Positioning Controllers,
• ESCON Servo Controllers and
• other controllers.
Adapter EASY
Absolute
To connect the ENX10 EASY or ENX16 EASY to a maxon
controller with absolute encoder interface:
• EPOS2 50/5 (SSI only)
• EPOS3 70/10 EtherCat (SSI only)
• EPOS2 70/10 (SSI only)
• MAXPOS 50/5 (SSI or BiSS-C)
Suitable signal cables sold separately.
To connect the adapter 488167 to an EPOS2 50/5 or
EPOS3 EtherCAT controller
300586
378173
Signal cable
451290
To connect the adapter 488167 to an EPOS2 70/10
controller
To connect the adapter 488167 to a MAXPOS controller
For further details maxon catalog
Table 7
Suitable Accessories
ADAPTER EASY ABSOLUTE (488167)
The adapter converts the single-ended clock and data signals of an ENX EASY Absolute into TIA/EIA
RS-422-compliant differential clock and data lines suitable to most absolute encoder controller inputs.
Driver/receiver component used: SN75179BD or compatible.
Parameter
Conditions
Operating temperature (Tamb)
Min
Max
Unit
70
°C
5
5.25
V
57
70
mA
10
MHz
0
Supply voltage (Vcc)
4.75
Supply current (Icc)
Typ
Without encoder, no load
Maximum Clock frequency (fCLK)
Note
The operating voltage range of the adapter is narrower than that of the ENX EASY Absolute. The controller's voltage supply at the absolute encoder interface must provide the current of both adapter and
encoder (typically a total of 74 mA).
16
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
••page intentionally left blank••
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
17
© 2014 maxon motor. All rights reserved.
The present document – including all parts thereof – is protected by copyright. Any use (including reproduction, translation,
microfilming, and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the
prior approval of maxon motor ag, is not permitted and subject to prosecution under the applicable law.
maxon motor ag
Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln
Switzerland
Phone +41 41 666 15 00
Fax +41 41 666 16 50
www.maxonmotor.com
18
Document ID: 1 732 580-04
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor
Encoders ENX 10 EASY / ENX 16 EASY
Product Information

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